Corrected entry: C3PO and R2D2 are still at the rebel base on Yavin 4 when the rebel fleet leaves for Scarif, and the corvette with Princess Leia on it is part of that fleet, as we see at the end, placing the end of this movie right before the start of A New Hope. But R2 is on that corvette too, as Leia gives him the plans in the original movie. Obviously the princess didn't stop off at Yavin 4 to pick them up, as she just would have given the plans to the rebels there and then.
Paul Weston
16th Dec 2016
Rogue One: A Star Wars Story (2016)
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Correction: There is no evidence that the ship that Leia is on had already left when we see R2D2 and C3PO at the rebel base. They simply boarded that ship with Leia after we see them.